Velocity Quick Start [4] - 条件、循环

源文件:
package nc.jonathan.velocity;
import java.io.BufferedWriter;
import java.io.FileWriter;
import java.util.ArrayList;
import java.util.List;
import java.util.Properties;
import org.apache.velocity.VelocityContext;
import org.apache.velocity.app.Velocity;
import org.apache.velocity.exception.MethodInvocationException;
import org.apache.velocity.exception.ParseErrorException;
import org.apache.velocity.exception.ResourceNotFoundException;

/**
 *<p>
 * 第四个实例
 *</p>
 *
 *<p> 学习Velocity中的VTL - 模板语言: 条件、循环 </p>
 *
 * Create on 2006-4-3 13:20:12
 *
 * @author Jonathan Q. Bo
 * @version 1.0 valocity study
 */
public class FourExample {
 
 public FourExample(){
 }
 
 /**
  * 测试方法
  */
 public void test(){
  try {
   /* 初始化运行时引擎, 指定模版文件夹位置进行初始化 */
   Properties p = new Properties();
      p.setProperty("file.resource.loader.path", "vm");
   Velocity.init(p);
   
   /* 建立context, 并放入数据*/
   VelocityContext context = new VelocityContext();
   context.put("list",this.getList());
   context.put("condition",new Boolean(this.getBoolean()));
   
   /* 解析后数据的输出目标,java.io.Writer的子类 */
   FileWriter w = new FileWriter("gen/FourExampleGen.java");
   BufferedWriter bw = new BufferedWriter(w);
   
   
   /* 进行解析 */
   //Velocity.mergeTemplate("secondtemplate.vm",context,w);
   Velocity.mergeTemplate("fourtemplate.vm","gb2312",context,bw);
   
   bw.flush();
   bw.close();
   System.out.println("## ... successful!");
  } catch (ResourceNotFoundException e1) {
   System.out.println("## 源文件不存在!");
   e1.printStackTrace();
  } catch (ParseErrorException e2) {
   System.out.println("## 解析文件错误!");
   e2.printStackTrace();
  } catch (MethodInvocationException e3) {
   System.out.println("## 方法调用异常!");
   e3.printStackTrace();
  } catch (Exception e4){
   System.out.println("## 其他错误!");
   e4.printStackTrace();
  }
 }
 /**
  * 生成一个随机数组
  * @return java.util.List
  */
 private List getList(){
  ArrayList al = new ArrayList();
  for(int i = 0; i < 10; i++){
   al.add(String.valueOf(Math.random()*100));
  }
  return al;
 }
 
 /**
  * 生成随机布尔值
  * @return boolean
  */
 private boolean getBoolean(){
  int tmp1 = (int)(Math.random()*100);
  int tmp2 = (int)(Math.random()*100);
  return (tmp1-tmp2)>0?true:false;
 }
 
 public static void main(String[] args){
  FourExample example = new FourExample();
  example.test();
 }
 
}
模板文件
Test loop foreach... end
#foreach( $name in $list )
    Array[$velocityCount] : [$name]
#end
Test condition if... else... end
#if ($condition)
    The condition is true!
#else
    The condition is false!
#end
Test loop + condition
#foreach( $name2 in $list )
#if(($velocityCount+1)%2 == 1)
  + Array[$velocityCount] : [$name2]
#else
  - Array[$velocityCount] : [$name2]
#end
#end
输出结果
Test loop foreach... end
    Array[1] : [94.19815973077552]
    Array[2] : [92.175355103828]
    Array[3] : [28.983192371817836]
    Array[4] : [17.067573246183066]
    Array[5] : [69.93726110689275]
    Array[6] : [18.66140016348623]
    Array[7] : [66.10854437485507]
    Array[8] : [47.47973968131647]
    Array[9] : [79.88433146393561]
    Array[10] : [0.7504344062761126]
Test condition if... else... end
    The condition is true!
Test loop + condition
  - Array[1] : [94.19815973077552]
  + Array[2] : [92.175355103828]
  - Array[3] : [28.983192371817836]
  + Array[4] : [17.067573246183066]
  - Array[5] : [69.93726110689275]
  + Array[6] : [18.66140016348623]
  - Array[7] : [66.10854437485507]
  + Array[8] : [47.47973968131647]
  - Array[9] : [79.88433146393561]
  + Array[10] : [0.7504344062761126]
以下是使用EtherCAT通信协议的雷塞(Leisai)556步进驱动器的示例程序: ```c #include <stdio.h> #include <stdlib.h> #include <string.h> #include <math.h> #include "ecrt.h" #define REFRESH_RATE 1000 // 刷新率(单位:微秒) #define PI 3.14159265358979323846 // EtherCAT配置 #define ECAT_TIMEOUT 5000 // 超时时间(单位:毫秒) #define ECAT_SLAVE 0, 0 // 从站地址 // 雷塞556参数 #define MAX_SPEED 3000 // 最大速度(单位:rpm) #define MAX_ACC 1000 // 最大加速度(单位:rpm/s) // 定义PDO映射索引 #define PDO_INPUT_INDEX 0x1601 #define PDO_OUTPUT_INDEX 0x1A02 // 定义PDO映射子索引 #define PDO_INPUT_SUBINDEX_POSITION 0x00 #define PDO_INPUT_SUBINDEX_VELOCITY 0x02 #define PDO_INPUT_SUBINDEX_TORQUE 0x03 #define PDO_OUTPUT_SUBINDEX_CONTROL 0x00 // 定义命令码 #define CMD_SET_POSITION 0x02 #define CMD_SET_VELOCITY 0x03 #define CMD_SET_TORQUE 0x04 #define CMD_SET_BIT 0x06 // 定义状态码 #define STATE_NOT_READY_TO_SWITCH_ON 0x0000 #define STATE_SWITCH_ON_DISABLED 0x0040 #define STATE_READY_TO_SWITCH_ON 0x0021 #define STATE_SWITCHED_ON 0x0023 #define STATE_OPERATION_ENABLED 0x0027 #define STATE_QUICK_STOP_ACTIVE 0x0007 #define STATE_FAULT 0x000F // 定义常量 #define POSITION_FACTOR (2 * PI / 65536.0) // 位置因子(单位:弧度) #define VELOCITY_FACTOR (2 * PI / 60.0 / 65536.0) // 速度因子(单位:弧度/秒) #define TORQUE_FACTOR (2 * PI / 65536.0 / 0.001) // 力矩因子(单位:牛米) // 定义全局变量 static ec_master_t *master = NULL; static ec_master_state_t master_state = {}; static ec_domain_t *domain = NULL; static ec_domain_state_t domain_state = {}; static ec_slave_config_t *slave = NULL; static ec_slave_config_state_t slave_state = {}; static uint8_t *domain_pd = NULL; static ec_pdo_entry_reg_t domain_regs[] = { {ECAT_SLAVE, PDO_OUTPUT_INDEX, PDO_OUTPUT_SUBINDEX_CONTROL, 16, &control_word}, {ECAT_SLAVE, PDO_INPUT_INDEX, PDO_INPUT_SUBINDEX_POSITION, 32, &position}, {ECAT_SLAVE, PDO_INPUT_INDEX, PDO_INPUT_SUBINDEX_VELOCITY, 32, &velocity}, {ECAT_SLAVE, PDO_INPUT_INDEX, PDO_INPUT_SUBINDEX_TORQUE, 16, &torque}, {} }; static uint16_t control_word = 0x0000; static int32_t target_position = 0; static int32_t actual_position = 0; static int32_t actual_velocity = 0; static int16_t actual_torque = 0; // 定义函数 static void check_domain_state(void); static void check_slave_config_states(void); int main(int argc, char *argv[]) { // 初始化EtherCAT主站 if (ecrt_init() != 0) { printf("Failed to initialize EtherCAT master!\n"); return -1; } // 获取EtherCAT主站 master = ecrt_request_master(0); if (master == NULL) { printf("Failed to get EtherCAT master!\n"); return -1; } // 发现从站 if (ecrt_master_scan(master, 0) <= 0) { printf("No EtherCAT slaves found!\n"); return -1; } // 获取从站配置 slave = ecrt_master_slave_config(master, ECAT_SLAVE); if (slave == NULL) { printf("Failed to get slave configuration!\n"); return -1; } // 创建EtherCAT域 domain = ecrt_master_create_domain(master); if (domain == NULL) { printf("Failed to create EtherCAT domain!\n"); return -1; } // 注册PDO映射 if (ecrt_domain_reg_pdo_entry_list(domain, domain_regs) < 0) { printf("Failed to register PDO entry list!\n"); return -1; } // 计算PDO映射 if (ecrt_master_application_time(master, REFRESH_RATE) != 0) { printf("Failed to set application time!\n"); return -1; } if (ecrt_master_sync_reference_clock(master) != 0) { printf("Failed to sync reference clock!\n"); return -1; } if (ecrt_domain_size(domain) > 0x1000) { printf("Domain size exceeds 4KB!\n"); return -1; } domain_pd = ecrt_domain_data(domain); // 配置从站 if (ecrt_slave_config_pdos(slave, EC_RT_MODE_3, 1, NULL, NULL) != EC_SUCCESS) { printf("Failed to configure PDOs!\n"); return -1; } // 配置从站状态 if (ecrt_slave_config_map(slave) < 0) { printf("Failed to configure slave state!\n"); return -1; } // 检查主站状态 ecrt_master_receive(master); check_domain_state(); if (master_state.al_states != 0) { printf("EtherCAT master is not in the AL state!\n"); return -1; } // 检查从站状态 ecrt_master_receive(master); check_slave_config_states(); if (slave_state.al_state != 0) { printf("EtherCAT slave is not in the AL state!\n"); return -1; } // 初始化从站 control_word = 0x0006; // 将控制字设置为“Switch On + Enable Operation” ecrt_domain_queue(domain); ecrt_master_send(master); ecrt_master_receive(master); check_domain_state(); if (actual_position != 0) { printf("Failed to initialize the drive!\n"); return -1; } // 设置驱动器参数 control_word = 0x0007; // 将控制字设置为“Switch On + Enable Operation + Quick Stop” ecrt_domain_queue(domain); ecrt_master_send(master); ecrt_master_receive(master); check_domain_state(); if (actual_position != 0) { printf("Failed to set drive parameters!\n"); return -1; } // 启动驱动器 control_word = 0x000F; // 将控制字设置为“Switch On + Enable Operation + Quick Stop + Enable Interpolated Position Mode” ecrt_domain_queue(domain); ecrt_master_send(master); ecrt_master_receive(master); check_domain_state(); if (actual_position != 0) { printf("Failed to start the drive!\n"); return -1; } // 循环运行 while (1) { // 读取当前位置、速度和力矩 ecrt_master_receive(master); actual_position = *((int32_t *)(domain_pd + ecrt_slave_config_reg_pdo_entry_offset(slave, PDO_INPUT_INDEX, PDO_INPUT_SUBINDEX_POSITION))); actual_velocity = *((int32_t *)(domain_pd + ecrt_slave_config_reg_pdo_entry_offset(slave, PDO_INPUT_INDEX, PDO_INPUT_SUBINDEX_VELOCITY))); actual_torque = *((int16_t *)(domain_pd + ecrt_slave_config_reg_pdo_entry_offset(slave, PDO_INPUT_INDEX, PDO_INPUT_SUBINDEX_TORQUE))); // 显示当前状态 switch (control_word & 0x006F) { case STATE_NOT_READY_TO_SWITCH_ON: printf("Drive is in the Not Ready to Switch On state.\n"); break; case STATE_SWITCH_ON_DISABLED: printf("Drive is in the Switch On Disabled state.\n"); break; case STATE_READY_TO_SWITCH_ON: printf("Drive is in the Ready to Switch On state.\n"); break; case STATE_SWITCHED_ON: printf("Drive is in the Switched On state.\n"); break; case STATE_OPERATION_ENABLED: printf("Drive is in the Operation Enabled state.\n"); break; case STATE_QUICK_STOP_ACTIVE: printf("Drive is in the Quick Stop Active state.\n"); break; case STATE_FAULT: printf("Drive is in the Fault state.\n"); break; default: printf("Drive is in an unknown state.\n"); break; } // 设置目标位置 if (control_word & 0x001F == STATE_OPERATION_ENABLED) { target_position += (int32_t)(MAX_SPEED * REFRESH_RATE / 1000000.0); if (target_position > 65536) { target_position -= 65536; } *((int32_t *)(domain_pd + ecrt_slave_config_reg_pdo_entry_offset(slave, PDO_OUTPUT_INDEX, PDO_OUTPUT_SUBINDEX_CONTROL))) = CMD_SET_POSITION | (target_position << 8); } // 刷新PDO ecrt_domain_queue(domain); ecrt_master_send(master); usleep(REFRESH_RATE); } // 停止驱动器 control_word = 0x0007; // 将控制字设置为“Switch On + Enable Operation + Quick Stop” ecrt_domain_queue(domain); ecrt_master_send(master); ecrt_master_receive(master); check_domain_state(); if (actual_position != 0) { printf("Failed to stop the drive!\n"); return -1; } // 释放EtherCAT主站 ecrt_release_master(master); master = NULL; // 结束程序 return 0; } static void check_domain_state(void) { ecrt_master_state(master, &master_state); ecrt_domain_state(domain, &domain_state); } static void check_slave_config_states(void) { ecrt_slave_config_state(slave, &slave_state); } ``` 这个示例程序使用了EtherCAT通信协议来控制雷塞(Leisai)556步进驱动器。程序中定义了一些常量和全局变量,包括刷新率、PDO映射、命令码、状态码等。程序首先初始化EtherCAT主站,并发现从站。然后,程序创建一个EtherCAT域,并注册PDO映射。接下来,程序配置从站和从站状态,并初始化驱动器。程序循环运行,读取当前位置、速度和力矩,并根据控制字设置目标位置。最后,程序停止驱动器并释放EtherCAT主站。 请注意,这只是一个示例程序,具体实现可能因驱动器型号和应用场景而异。在实际应用中,请根据实际情况进行调整。
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